The study of manipulation problem with application of a new gripper with elastic fingers

The study of manipulation problem with application of a new gripper designed, constructed and built by the author is presented in the paper. The design work concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was assumed that the gripper should ensure a satisfactory reliabilty level, required functionality and easy maintenance. The gripper design ensures beneficial variability of characteristics of the forces acting upon the object irrespective of the openning distance of fingers i.e., of the manipulated object size.